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A Teleoperated Robotic Catheter System with Motion and Force Feedback for Vascular Surgery

A Teleoperated Robotic Catheter System with Motion and Force...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Olatunji Mumini OMISORE ShiPeng HAN LingXue REN Lei WANG Shenzhen College of Advanced Technology University of Chinese Academy of Sciences China Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538670804;9788993215168

In recent time, robotic catheter systems have been proposed to minimize major limitations in minimally invasive vascular surgery. Technical evaluations of conventional systems have shown that teleoperation of robot-based systems could provide feasible and safe treatment method for vascular abnormalities. However, despite the merits, robot-assisted vascular surgeries are performed in fewer clinical centres, worldwide. In this study, a 2-DoF teleoperated robotic catheter system is proposed for treatment of vascular catheterization. the system provides visual feedbacks of motion and force information during catheterization procedures. Operation of the robotic catheter system was experimentally validated using master-slave teleoperation system. In the experiments, different phantom models of human vasculature were catheterized and the results obtained shows that the proposed robotic catheter system can provide useful motion and force feedback for vascular surgery.

关键词： Surgery Catheters Phantoms Robot kinematics Catheterization Robot sensing systems

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Data-Driven Fault Detection of Electrical Machine

Data-Driven Fault Detection of Electrical Machine

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zhao Xu Jinwen Hu Changhua Hu Sivakumar Nadarajan Chi-keong Goh Amit Gupta School of Electronics and Information Northwestern Polytechnical University Xi'an Shaanxi School of Automation Northwestern Polytechnical University Xi'an Shaanxi Xi'an Research Institute of High-Technology Xi'an Shaanxi Rolls-Royce Advanced Technology Center (ATC) Singapore Singapore

For the purpose of monitoring the health conditions of electrical machines, a framework is proposed to establish the methods to provide an early warning to potential machine failures in data mining terminology. the framework consists of five stages including data segmentation, feature extraction/selection, multi-classifier ensemble, decision fusion and output, which is flexible and can be adapted for any known faults. the difference lies in the implementation choices of techniques and structures (e.g. number of classifiers) in the second to forth stage as well as the input requirements. As an example, the turn-to-turn short circuit fault of induction motor is used as the known fault in studies in this work. Simulation results show the effectiveness of the proposed techniques.

关键词： Feature extraction Circuit faults Fault detection Resistance Time series analysis Support vector machines Data mining

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Multi-Period Pickup and Delivery Problem with Time Windows and Paired Demands

Multi-Period Pickup and Delivery Problem with Time Windows a...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zaher Al Chami Hervé Manier Marie-Ange Manier CNRS Franche-Comté FEMTO-ST Institute Belfort Cedex France

this paper addresses the Multi-Period Pickup and Delivery Problem with Time Windows and Paired Demands (Mu-PDPTWPD). A first strategy consists in dealing with the problem as a whole. A second one is to consider the studied problem as a sequence of mono-period selective PDPTWPDs. the Mu-PDPTWPD is an extension of well-known pick up and delivery problem where vehicles must satisfy a set of transportation requests under many constraints. the Multi-Period aspect is added to the problem to match real-world applications where sites must be visited one time during a set of periods. In this paper, we propose several methods to solve this problem. the efficiency of our approaches is validated by tests on two sets of new generated instances. A comparison between all proposed approaches is done in order to trace the advantages and drawbacks for each of them.

关键词： Routing Urban areas Transportation Logistics Search problems Linear programming automation

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Development of Virtual Reality-vision System in Robot-Assisted Laparoscopic Surgery

Development of Virtual Reality-Vision System in Robot-Assist...

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international conference on control, automation and Systems

作者： Yeeun Jo Yoon Jae Kim Hye-Min Moon Sungwan Kim Interdisciplinary Program for Bioengineering Graduate School Seoul National University Seoul Korea Institute of Medical and Biological Engineering Medical Research Center Seoul National University Seoul Korea

ISBN: (纸本)9781538670804;9788993215168

the robot-assisted surgical systems that allow minimally invasive surgery have diverse advantages compared to conventional open surgery. However, there still remain some drawbacks to be improved such as the discontinuous surgical operation flow that occurs during switching control between the endoscope system and the patient side manipulator (PSM). It can lead to collision between surgical instruments, possibility of injury to patients, and increased operation time. thus, a virtual reality-vision system is proposed to enable continuous surgical operation flow and inruitive control of endoscopic system. As a preliminary study, 6 types of motion capture data, pitch down, pitch up, roll left, roll right, yaw left, and yaw right, were collected from two subjects. Signal-to-noise ratio (SNR) is high enough to avoid classification issue, so available ranges of threshold for each motion could be suggested. Based on the provided thresholds, intuitive velocity control strategy of endoscope system will be implemented. Furthermore, collision avoidance system using Oriented Bounded Box (OBB) was designed to suppress user mistakes caused by unintended head motion. the simulation results show motion trajectory of endoscope without any collision with other instruments.

关键词： Robot-assisted surgery Endoscopic system Virtual reality (VR) vision system Oculus Collision avoidance

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Visual Servoing and Compliant Motion control of a Continuum Robot

Visual Servoing and Compliant Motion Control of a Continuum ...

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international conference on control, automation and Systems ( ICCAS)

作者： Kai-Tai Song Han-Chih Tsai Institute of Electrical and Control Engineering College of Electrical and Computer Engineering National Chiao Tung University 1001 Ta Hsueh Road Hsinchu Taiwan ROC

ISBN: (纸本)9781538670804;9788993215168

this paper presents a visual servoing and compliant motion control design of a continuum robot. Two endoscopic cameras were installed at the tip of the continuum robot to build a stereo camera system. the depth information is obtained by using semi-global block-matching (SGBM) algorithm. the visual servoing system proposed in this work includes the feature point extraction by using speeded-up robust features (SURF), followed by feature-point matching using nearest neighbor distance ratio (NNDR), and tracking of feature points by using mean shift algorithm. through the pressure sensor installed around the circumference of the continuum robot, a compliant motion control design is proposed to make the robot to move in a constrained environment while executing the visual servoing task. Practical experiments show that the proposed method can effectively track a target and generate the adaptive motion when the robot encounters an obstacle during visual servoing.

关键词： Robot kinematics Cameras Feature extraction Robot vision systems Force

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control of ultrasonic surface rolling process machine tool for aero-engine blades

Control of ultrasonic surface rolling process machine tool f...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Kaiming Zhang Shuang Liu Shulei Yao Xiancheng Zhang Congyang Gong Chengcheng Zhang East China University of Science and Technology Shanghai P.R. China AECC Commercial Aircraft Engine Co. LTD Shanghai Engineering Research Center for Commercial Aircraft Engine

the surface quality of blades affects the performance and security of aircraft engines. Ultrasonic surface rolling process (USRP) can be used to improve service life of alloys. However, blades with complex design specifications are difficult to processing, especially the thin-walled leading/trailing edge should bear the loads during the process of ultrasonic rolling. therefore, it's still a challenge to apply USRP for the surface strengthening of blades. In this paper, an integrated system that combines USRP and a multi-axis machine tool is presented to improve the surface quality of blades. Further, the control of the machine tool is reasonably designed. Finally, the proposed method is validated by an experiment on a real blade. this proves that the system can be effectively used for automated strengthening of aircraft blades.

关键词： Blades Surface treatment Machine tools Acoustics Tools Rough surfaces Surface roughness

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CNN based on LBP for Evaluating Natural Disasters

CNN based on LBP for Evaluating Natural Disasters

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international conference on control, automation, robotics and vision (ICARCV)

作者： Andrada Livia Cirneanu Dan Popescu Loretta Ichim Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Romania Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest

this paper presents a novel evaluation method of areas affected by natural disasters with the purpose of managing these crisis situations. Since it is necessary to have a real overview of a specific area in the shortest time, our methodology proposes a neural network with backpropagation approach for flood detection from UAV images. For this, the Local Binary Pattern (LBP) texture operator is used for areas classification. the LBP operator labels each pixel of the analyzed image by comparing it with its neighbors, which ends with the computation of a binary number that it is converted to decimal format named LBP code. thus, based on the generated LBP codes, a histogram type feature is computed and used in both training and testing phases of the proposed neural network. Over 50 images obtained with the aid of UAV technology were tested with the proposed neural network and good results in terms of accuracy for flood areas detection were obtained.

关键词： Training Biological neural networks Histograms Backpropagation Testing Training data

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Continuous Decoding of Self-Paced Movement Intention from EEG Correlates

Continuous Decoding of Self-Paced Movement Intention from EE...

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international conference on control, automation, robotics and vision

作者： Haoming Xie Jing Zhang Weihai Chen Jianbin Zhang Yu Sun Department of Automation Science and Electrical Engineering Beihang University Beijing China Department of Mechanical Engineering and Automation Beihang University Beijing China Department of Biomedical Engineering and Instrument Science Zhejiang University Hangzhou China

MRCPs (movement related cortical potentials) are slow negative potentials observed in EEG preceding movement, which represents the processing of the cerebral cortex during planning and preparation. Clinical studies have shown that, rehabilitation therapy with the active participation of the central nervous system can rebuild related nerve function, restore the patient's neural plasticity and characterize the intention to move by means of electroencephalographic activity which can be used in rehabilitation protocols with patients' cortical activity taking an active role during the intervention. We describe our method framework including protocol, data processing and pattern recognition. then the experimental results are analyzed. the tests were carried out with healthy people and achieved satisfactory performance both in trial and asynchronous detection. Our purpose is to apply to restoration of neural pathway of patients.

关键词： Electroencephalography Band-pass filters Protocols Feature extraction Electrodes automation Nervous system

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Periodic Event-Triggered Time-Varying Formation of Multi-Agent Systems

Periodic Event-Triggered Time-Varying Formation of Multi-Age...

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international conference on control, automation, robotics and vision

作者： Xiaoduo Li Xiwang Dong Lin Xie Zhang Ren Peng Yang School of Automation Science and Electronic Engineering Beihang University Beijing P.R. China General Office China State Shipbuilding Corporation limited Beijing P.R. China

this paper investigates event-triggered formation problems of general linear multi-agent systems subject to sampled-data. the time-varying formation this paper studied can be described by a bounded piecewise differentiable function. Firstly, a time-varying formation control protocol is proposed based on event-triggered scheme with the sampled states of the neighboring agents. Each agent broadcasts its state information to neighbor nodes at an sampled instant if the triggering condition is satisfied, and the communication load is decreased significantly. then an algorithm consisting of three steps is proposed to design the event-triggered formation control protocol. Moreover, it is proven that the multi-agent systems can achieve the desired time-varying formation which belongs to the feasible formation set with the bounded formation error under the designed event-triggered formation protocol. Finally, the effectiveness of the theoretical analysis is verified by a simulation.

关键词： Multi-agent systems Protocols Eigenvalues and eigenfunctions control systems Time-varying systems Symmetric matrices Linear matrix inequalities

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Connection between the Adjoint Variables and Value Function for controlled Fully Coupled FBSDEs: the Local Case

Connection between the Adjoint Variables and Value Function ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Weijun Meng Jingtao Shi School of Mathematics Shandong University Jinan P. R. China

this paper is concerned with the connection between the local maximum principle and the dynamic programming principle for controlled fully coupled forward-backward stochastic differential equations (FBSDEs) when the control domain is convex and the diffusion term does not contain the variable z. the relation among the adjoint variables and the value function is obtained within the viscosity solution framework. the first-order adjoint equation of [M. S. Hu, S. L. Ji and X. L. Xue, A global stochastic maximum principle for fully coupled forward-backward stochastic systems, arXiv: 1803.02109] can be derived from the adjoint FBSDE of [Z. Wu, Maximum principle for optimal control problem of fully coupled forward-backward stochastic systems, Systems Science and Mathematical Sciences, vol. 11, 1998, pp. 249-259], by our main theorem. Additionally, we give an example to show the applications of the theoretical result.

关键词： Optimal control Viscosity Differential equations Stochastic systems Field-flow fractionation automation

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